Abstract
A new methodology is proposed for the design of path following systems for autonomous underwater vehicles. Global convergence to reference paths is achieved with a nonlinear control strategy that takes explicitly into account the dynamics of the vehicle. Formal convergence proofs are indicated. Simulation results with the model of a prototype autonomous underwater vehicle are presented to illustrate the performance of the path following system derived.
| Original language | English |
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| Pages (from-to) | 2977-2982 |
| Number of pages | 6 |
| Journal | Proceedings of the IEEE Conference on Decision and Control |
| Volume | 3 |
| Publication status | Published - 2000 |
| Externally published | Yes |
| Event | 39th IEEE Confernce on Decision and Control - Sysdney, NSW, Australia Duration: 12 Dec 2000 → 15 Dec 2000 |